2
  0.901047    0.43075 -0.0506837   0.182782
  0.267361  -0.643645  -0.717105  0.0884108
 -0.341515   0.632595   -0.69512   0.638204
         0          0          0          1
  0.995856  0.0885493  0.0207266   0.166692
 0.0774767  -0.706725  -0.703234  -0.112743
-0.0476228   0.701925  -0.710657   0.865487
         0          0          0          1
